基于自抗扰控制的机械臂末端力/位置控制OA北大核心CSTPCD

A novel approach is proposed for the end-effector force/position control of a robotic arm based on active dis-turbance rejection control(ADRC)called the indirect force/position mixed impedance control scheme.This scheme combines indirect force/position mixed control with impedance control,where position control is utilized when the robotic arm is not in contact with the environment,and switches to indirect force control with impedance characteristics upon contact with the environment.Furthermore,this scheme integrates mixed impedance control with ADRC by establishing an ADRC controller based on the impedance model of the robotic arm when in contact with the environment.The impedance parameters are treated as part of the total disturbance of the system.A ex-tended state observer is employed to estimate and compensate for these parameters,thereby achieving better stabili-ty and robustness of the indirect force/position mixed impedance controller in the presence of disturbances without the need for computing impedance parameters.Finally,simulation using a two-degree-of-freedom robotic arm model is done,and the proposed ADRC-based indirect force/position mixed impedance control scheme is compared with traditional impedance controllers.The effectiveness of the proposed scheme is verified.